03-05-2005, 06:41 PM

Does anyone know how to solve these equations.

KCosA + YSinA = CSinB

KSinA - YCosA = CCosB

Regds

happy_99

KCosA + YSinA = CSinB

KSinA - YCosA = CCosB

Regds

happy_99

View Full Version : Inverse Kinematics

03-05-2005, 06:41 PM

Does anyone know how to solve these equations.

KCosA + YSinA = CSinB

KSinA - YCosA = CCosB

Regds

happy_99

KCosA + YSinA = CSinB

KSinA - YCosA = CCosB

Regds

happy_99

vidur

03-05-2005, 08:13 PM

Hi

Take C to the Left side in both Equations

put sin Z = K/C & cos Z = Y/C ...z is an arbitrary constant

use relations sin x.cos y + cos x. sin y = sin ( x+y)

& cos x.cos y - sin x. sin y = cos (x+y)

simplify & you get

A-B = -z

A+B= -z ....

So B=0 & A= - z => A= -arctan(K/Y)

Plz verify the simplification

Vidur

Take C to the Left side in both Equations

put sin Z = K/C & cos Z = Y/C ...z is an arbitrary constant

use relations sin x.cos y + cos x. sin y = sin ( x+y)

& cos x.cos y - sin x. sin y = cos (x+y)

simplify & you get

A-B = -z

A+B= -z ....

So B=0 & A= - z => A= -arctan(K/Y)

Plz verify the simplification

Vidur

happy_99

03-06-2005, 11:35 PM

Thanks Vidur :-)

I'll check it out and let you know

Regds

happy_99

I'll check it out and let you know

Regds

happy_99

happy_99

03-11-2005, 01:19 AM

Hey Vidur, it worked. Was a great help, Thanks.

Regds

happy_99

Regds

happy_99

vidur

03-11-2005, 07:57 PM

what were you using those equations for anyway?

:?

Vidur

:?

Vidur

happy_99

03-18-2005, 11:32 PM

I've been solving the IK for the leg configuration of my hexapod robot, which i'm doin as my final year proj. It's almost completed, 'll be putting up a website soon.

Regds

happy_99

Regds

happy_99

happy_99

07-01-2005, 12:11 AM

Friends I need help for solving the following mathematical equations.

KCos(A) + LCos(B) = P

KSin(A) + LSin(B) = Q

Thanks & Regds

happy_99

KCos(A) + LCos(B) = P

KSin(A) + LSin(B) = Q

Thanks & Regds

happy_99

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